EP0515518A4

EP0515518A4 - Repetitive phenomena cancellation arrangement with multiple sensors and actuators

Info

Publication number: EP0515518A4
Application number: EP19910904830
Authority: EP
Inventors: Steven A. Tretter
Original assignee: University of Maryland at Baltimore
Current assignee: University of Maryland at Baltimore
Priority date: 1990-02-13
Filing date: 1991-02-08
Publication date: 1993-06-30
Anticipated expiration: 2011-02-08
Also published as: ES2122971T3; FI923609A; DE69130058T2; CA2074951C; DE69130058D1; NO923144L; CA2074951A1; EP0515518B1; DK0515518T3; NO923144D0; US5091953A; EP0515518A1; FI923609A0; JPH05506516A; HU216924B; HUT61849A; ATE170318T1; NO306964B1; WO1991012608A1

Abstract

Repetitive phenomena cancelling controller arrangement for cancelling unwanted repetitive phenomena comprising known fundamental frequencies. The known frequencies are determined and an electrical known frequency signal corresponding to the known fundamental frequencies of the unwanted repetition phenomena is generated. A plurality of sensors are employed in which each sensor senses residual phenomena and generates an electrical residual phenomena signal representative of the residual phenomena. A plurality of actuators are provided for cancelling phenomena signals at a plurality of locations, and a controller is utilized for automatically controlling each of the actuators as a predetermined function of the known fundamental frequencies of the unwanted repetitive phenomena and of the residual phenomena signals from the plurality of sensors. In this arrangement the plurality of actuators operate to selectively cancel discrete harmonics of the known fundamental frequencies while accommodating interactions between the various sensors and actuators.

Description

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Repetitive Phenomena Cancellation Arrangement With Multiple Sensors and Actuators

Technical Field

The present invention relates to the development of an improved arrangement for controlling repetitive phenomena cancellation in an arrangement wherein a plurality of residual repetitive phenomena sensors and a plurality of cancelling actuators are provided. The repetitive phenomena being canceled in certain cases may be unwanted noise, with microphones and loudspeakers as the repetitive phenomena sensors and cancelling actuators, respectively. The repetitive phenomena being canceled in certain other cases may be unwanted physical vibrations, with vibration sensors and counter vibration actuators as the repetitive phenomena sensors and cancelling actuators, respectively.

A time domain approach to the noise cancellation problem is presented in a paper by S.J. Elliott, I.M. Strothers, and P.A. Nelson, "A Multiple Error LMS Algorithm and Its Application to the Active Control of Sound and Vibration," IEEE Transactions on Acoustics, Speech, and Signal Processing, VOL. ASSP-35, No. 10, October 1987, pp. 1423-1434.

The approach taught in the above paper generates cancellation actuator signals by passing a single reference signal derived from the noise signal through Na FIR filters whose taps are adjusted by a modified version of the LMS algorithm. The assumption that the signals are sampled synchronously with the noise period is not required. In fact, the above approach does not assume that the noise signal has to be periodic in the first part of the paper. However, the above approach does assume that the matrix of impulse responses relating the actuator and sensor signals is known. No suggestions on how to estimate the impulse responses are made.

The frequency domain approach to the interpretation of the problem is presented as follows, as shown in Figure 5 which is a block diagram of the system:

The system consists of a set of Na actuators driven by a controller that produces a signal C which is a Na x 1 column vector of complex numbers. A set of Ns sensors measures the sum of the actuator signals and undesired noise. The sensor-output^"is^{^}the Ns x 1 residual vector R which at each harmonic has the form

R = V + HC (1)

where

V is a Ns x 1 column vector of noise components

and

H is the Ns x Na transfer function matrix between the actuators and sensors at the harmonic of interest.

The problem addressed by the present invention is to choose the actuator signals to minimize the sum of the squared magnitudes of the residual components. Suppose that the actuator signals are currently set to the value C which is not necessarily optimum and that the optimum value is Copt = C + dC. The residual with Copt would be

Ro = H (C + dC) + V = (HC + V) + H dC = R + H dC (2) The problem is to find dC to minimize the sum squared residual

Ro^eRo

where § denotes conjugate transpose. An equivalent statement of the problem is: Find dC so that H dC is the least squares approximation to -R. This problem will be represented by the notation

-R = H dC (3)

The solution to the least squares problem has been studied extensively. One approach is to set the derivatives of the sum squared error with respect to the real and imaginary parts of the components of dC equal to 0. This leads to the "normal equations"

H^§ H dC = -H^βR (4)

If the columns of H are linearly independent, the closed form solution for the required change in C is

dC - - [H^eH]^_1H^eR (5)

The present invention provides methods and arrangements for accommodating the interaction between the respective actuators and sensors without requiring a specific pairing of the sensors and actuators as in prior art single point cancellation techniques such as exemplified by U.S. Patent 4,473,906 to Warnak _t U.S. Patents 4,677,676 and 4,677,677 to Eriksso . and U.S. Patents 4,153,815, 4,417,098 and 4,490,841 to Chapliη. The present invention is also a departure from prior art techniques such as described in the above-mentioned Elliot et al. article and U.S. Patent 4,562,589 to arnaka which handle interactions between multiple sensors and actuators by using time domain filters which do not provide means to cancel selected harmonics of a repetitive phenomena.

Disclosure of the Invention

Accordingly, one object of the present invention is to provide novel equipment and algorithms to cancel repetitive phenomena which are based on known fundamental frequencies of the unwanted noise or other periodic phenomena to be canceled. Each of the preferred embodiments provides for the determination of the phase and amplitude of the cancelling signal for each known harmonic. This allows selective control of which harmonics are to be canceled and which are not. Additionally, only two weights, the real and imaginary parts, are required for each harmonic, rather than long FIR filters.

Accordingly, another object of the present invention is to provide novel equipment and methods for measuring the transfer function between the respective actuators and sensors for use in the algorithms for control functions.

Different equipment and methods are used for determining the known harmonic frequencies contained in the unwanted phenomena to be canceled. In environments such as cancellation of noise generated by a reciprocating engine or the like, a sync signal representation of the engine speed is supplied to the controller, which sync signal represents the known harmonic frequencies to be considered. In other embodiments, the known harmonic frequencies can be determined by manual tuning to set the controller based on the residual noise or vibration signal. It should be understood that in most applications, a plurality of known harmonic frequencies make up the unwanted repetitive phenomena signal field and the embodimesnts of the invention are intended to address the Cancellation of selected ones of a plurality of the known harmonic f equencies.

Other objects, advantages and novel features of the present invention will become apparent from the following detailed description of the invention when considered in conjunction with the accompanying drawings.

Brief Description of the Drawings

A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein:

Figure 1 schematically depicts a preferred embodiment of the invention for cancelling noise in an unwanted noise field;

Figure 2 is a graph showing convergence of sum squared residuals for a first set of variables;

Figure 3 is a graph showing convergence of sum squared residuals for another set of variables;

Figure 4 is a graph showing the convergence of real and imaginary parts of an actuator tap; Figure 5 is a block diagram of the environment of the present invention.

Best Mode for Carrying Out the Invention

Referring now to the drawings, wherein like reference symbols designate identical or corresponding parts throughout the several views, and more particularly to Figure 1 which schematically depicts a preferred embodiment of the present invention with multiple actuators (speakers A_lr A₂..., A_n) and multiple sensors (microphones S_lf S₂.., S_m) . In Figure 1, the dotted lines between the actuator A_x, and.the sensors,- marke a^-H_x-_1;-H_ly2* •» represent transfer functions between speaker λ₁ and each of the respective sensors. In a like manner, the dotted lines H^; H_n2. - emanating from speaker A„, represent the transfer functions between speaker A_n and each of the sensors. The CONTROLLER includes a microprocessor and is programmed to execute algorithms based on the variable input signals from the sensors S_λ. . to control the respective actuators A_la...

A first frequency domain approach solution according to the present invention can be applied to the case of periodic noise and synchronous sampling. It will be assumed that all signals are periodic with period T₀ and corresponding fundamental frequency w₀ = 2 pi/T₀ and that the sampling rate, w_β, is an integer multiple of the fundamental frequency w_Q, i. e., w_s = N w₀. The sampling period will be denoted by T = 2 pi/w₈ = T₀/N. The sampling rate must also be at least twice the highest frequency component in the noise signal. Let the transfer function from actuator q to sensor p at frequency mw₀ be

H_pg n) = Fpqfm) + j G^m) = l^fm) | e* ^bpq<^m> (6) where F and G are the real and imaginary parts of H and b is its phase. The signals applied to the actuators will be sums of sinusoids at the various harmonics and the amplitudes and phases of these sinusoids will be adjusted to minimize the sum squared residual. Actually, it will be more convenient to decompose each sinusoid into a weighted sum of a sine and cosine and adjust the two weights to achieve the desired amplitude and phase. This is equivalent to using rectangular rather than polar coordinates. Let the signal at actuator q and harmonic m be

c_q(t;m) = x_q,_mcos mw₀t - y_qftnsinmw₀t

^s *e[(Xq,_m + j y_q,_B)exp(jmw₀t)]

- Re[C_{qf m}exp(jmw₀t) ] (7)

where

According to sinusoidal steady-state analysis, the signal caused at sensor p by this actuator signal is

- Re [(x_q,_m + j y_q,_m) Hpg a) exp(jmw₀t)]

= Re [Cq^Hpgfm) exp(jmw₀t)] (8)

Therefore, the total signal observed at sensor p is

Nh Na r_p( t) - Σ Σ Up,(t;_ni) v_p(t) m-l g-i v_B( t) (9 )

where t = nT Nh is the number of significant harmonics, and

v_p(t) is the noise observed at sensor p.

Since the noise is periodic, it can also be represented as

^VP ( t) - exp ( jπw₀t) ] (10)

Thus, the residual component at harmonic m is

Na xΛ t;m) - Re{ [V_ _a + Σ C^Ji^im) ] exp( jmw₀1) } (11) q-1

The problem is to choose the set of complex numbers {C_{q m}} so as to minimize the squared residuals summed over the sensors and time. Since the signals are periodic with a period of N samples, the sum will be taken over just one period in time. The quantity to be minimized is Ns N-l

Q - Σ ^LP (ilT) (12) p-i n-o

Since the sinusoidal components at different harmonics are orthogonal, it follows that

Nh Q - ∑

ΛJ-1 0.

where

Ns N-l O.- ∑ Σ (nT;m) (13) p-i 13-0

Consequently, the sum squared residuals at each harmonic can be minimized independently. Taking a derivative with respect to x_{k m} gives

Ns N-l dQ_α/dκ_{k m} - 2 Σ Σ i ΛnT;m) d r_p(nT;m) /dx_{k t} p-1 n-0 ^{p p}

Ns N-l - 2 Σ Σ r_D(nT;m) Re [H_pk(m) exp( jmw nT) ] (14) p-1 n-0 ^{p P}

Similarly, the derivative with respect to Y_{k m} is

^dQ _m/dγ_k,_m = Ns N-l -2 Σ Σ r_p(nT;m) ImlH^im) exp(_mw_σπD] (15) p-1 n-0

Equations 14 and 15 be conveniently combined into

*4/^Λ*..-

*Q <*Xι.m ⁺ J dQ dy_kιm -

Ns N-l

2 Σ H'_pj_cim) Σ x ΛnT;m) expf-jmwyiD p-1 Λ-0

Ns ■2 Σ H^* _k(m) R ^■p. a (16)

P-I

where

* denotes complex conjugate

and

n-l R _pa - ∑ r (nT;m) ex f-j/nhyiD n-0 N-l - Σ τ_p(nT; ) exp (- 2 pi mn/N) (17 ) Jl-0

Notice that R_ _m is the DFT of r_p(nT) evaluated at harmonic m. The sum squared error can be minimized by incrementing the C's in the directions opposite to the derivatives. Let C_{k m}(i) be a coefficient at iteration i. Then the iterative algorithm for computing the optimum coefficients is

Ns C_k>m(i+1) - C_k,_m(i) - a Σ H'_pk(m) R_Pt (18)

P-I

for K = 1,..., Νa and m = 1,..., Νh.

where

a = small positive constant

The above derivation of equation (18) is based on the assumption that the system has reached steady state. To apply this method, the C coefficients are first incremented according to (18) . Before another iteration is performed, the system must be allowed to reach steady state again. The time delay required depends on the durations of the impulse responses from the actuators to the sensors.

If synchronous sampling cannot be performed, then the algorithm represented by equation (18) cannot be used. However, if the noise is periodic with a known period, the method can be modified to give, perhaps, an even simpler algorithm that can be used whether the sampling is synchronous or not. This algorithm is presented below and provides for the case where the noise is periodic and sampling can be either synchronous or asynchronous. An algorithm that does not require synchronous sampling or DFT's is presented. However, it is still assumed that the noise is periodic with known period and that the actuator signals are sums of sinusoids at the fundamental and harmonic frequencies just as in the previous paragraphs.

Let the instantaneous sum squared residual be

It will be assumed that the actuator signals are given by (7) and the signals observed at the sensors are given by (9) . Then, in a manner similar to that used in previous paragraphs, it can be shown that the gradient of the instantaneous sum squared residual with respect to a complex tap is

^dQ/^d k_fm - <*^Q/d _k,,» + d^Q/dy_k,_m

Ns - 2 Σ iH'_pk(m) exp (-jmwjaTi ] iΛnT) (20) p-l

Notice that the term in rectangular brackets is the complex conjugate of the signal applied to actuator k at harmonic m and filtered by the path from actuator k to sensor p except that the tap C_k/m is not included. Equation 20 suggests the fol lowing approximate gradient tap update algorithm.

Ns C_{k m}(n+1) - C_{k m}(n) - a Σ H^* _pk(m) exp ( - jjnuyiT) ∑_p (nT) p-l

(21)

Again "a" is a small positive constant that controls the speed of convergence.

To utilize the above algorithms to cancel repetitive phenomena the transfer functions H_pq between each repetitive phenomena sensor p and each cancelling actuator q must be known. Below are discussed several techniques which can be implemented to determine these transfer functions .

A first approach of determining the transfer functions will now be described where the signals involved will again be assumed to be periodic with all measurements made over periods of time when the system is in steady state. In the frequency domain at harmonic m and iteration n, the sensor and actuator components are assumed to be related by the matrix equation

R(n) = V + H C (n) (22)

where

Na is the number of actuators Ns is the number of sensors

R(n) is the Ns x 1 column vector of sensor values V is the Ns x 1 column vector of noise values H is the Ns x Na matrix of transfer functions C(n) is the Na x 1 column vector of actuator inputs The noise vector V and transfer function H are assumed to remain constant from iteration to iteration.

The approach to estimating H is to find the values of H and V that minimize the sum of the squared sensor values over several iterations. Let

R_£(n) be the i-th row of R(n) at iteration n V_L be the i-th element of V, and H_L be the i-th row of H

Then the residual signal observed at sensor i and iteration n is

for i = 1, ... ,Ns. The superscript t denotes transpose. When N measurements are made, they can be arranged in the matrix equation

or

R_t = A X_t

Minimizing the squares of the residuals summed over all the sensors and all times from 1 to N is equivalent to minimizing the sums of the squares of the residuals over time at each sensor individually since the far right hand matrix in (24) is distinct for each i. Therefore, we have Ns individual least squares minimization problems. The least squares solution to (24) is

where § designates conjugate transpose. The columns of A must be linearly independent for the inverse in (25) to exist. Therefore, care must be taken to vary the C's from sample to sample in such a way that the columns of A are linearly independent. The number of measurements, N, must be at least one larger than the number of actuators for this to be true. One approach is to excite the actuators one at a time to get Na measurements and then make another , measurement with all the actuators turned off. Suppose that at time n the n-th actuator input is set to the value K(n) with all the others set to zero at time n. Then the solution to (24) becomes

R_f(Na+l) - V_j

in measurement Na+1 when all the actuators are turned off and then

H_j,_n = [R_j(n) - V,]/K(n) for n = l,...,Na (26)

Of course, this approach gives no averaging of random measurement noise. Additional measurements must be taken to achieve averaging.

A second method of determining the transfer functions is a technique which estimates the transfer functions by using differences. Again, it will be assumed that the observed sensor values are given by (22) with the noise, V, and transfer function, H, constant with time. The noise remains constant because it is assumed to be periodic and blocks of time samples are taken synchronously with the noise period before transformation to the frequency domain. A transfer function estimation formula that is simpler than the one presented in the previous subsection can be derived by observing that the noise component cancels when two successive sensor vectors are subtracted. Let the actuator values at times n and n+1 be related by

C(n+1) « C(n) + dC(n) (27)

Then the difference of two successive sensor vectors is

R(n+1) - R(n) = H dC(n) (28)

Suppose that the present estimate of the transfer function matrix is Ho and that the actual value is

H = Ho + dH (29)

Replacing H in (28) by (29) and rearranging gives

Q(n) = R(n+1) - R(n) - Ho dC(n) = dH dC(n) (30)

Notice that Q(n) is a known quantity since R(n+1) and R(n) are measured, Ho is the known present transfer function estimate and dC(n) is the known change in the actuator signal at time n.

In practice, Q(n) in (30) will not be exactly equal to the -17-

right hand side because of random measurement noise. The approach that will be teϋcen is to choose dH to minimize the sum squared residuals. Suppose Ho is held constant and measurements are taken for n = 1,.. . N. Let dH_{ designate the i-th row of dH. Then the signals observed at the i-th sensor are

or

Qi - B dH*_f

The least squares solution to (31) is

dH^ = (B^aB)^*B⁸Q_i (32)

For this solution to exist, the actuator changes must be chosen so that the columns of B are linearly independent. This solution can also be expressed as

N N dff'i - t Σ dC' (n) dcHn) ] -¹ Σ dC' (n) Q^n) (33) n-l n-l

The solution becomes simpler if only one actuator is changed at a time. Suppose only actuator is changed and all the rest are held constant for N sample blocks. Let dH_{j m} be the i,m-th element of dH and C_m{τι) be the m-th element of the column vector C(n) . Assume that dC_A (n) - 0 for i not equal to

then (31) reduces to

or

The least squares solution to (34) is

If all the dC_m* s are the same, (35) reduces to

N dH i, .β 1 ∑ Q_± (n) /dC_m (36 )

N 1 -2-1

which is just the arithmetic average of the estimates based on single samples. -19-

Another approach is to make a change dC(l) in the actuator signals initially and then make no changes for n= 2,...,N. Consider the difference

R(n+1) - R(l) ■ H [C(n+1) C(l)] - H dC(l) (37)

for n - 1, ,N. Letting H = Ho + dH as before gives

P(n) - R(n+1) - R(l) - Ho dC(l) = dH dC(l) (38)

The development can proceed along the same lines as the previous paragraph. Suppose a change is made only in actuator and P^n) is observed for i - 1,...N. Then the least squares solution for άR± _B is

ι ^N dHi _m -T_r ^Σ P_J(i2)/dC_β(l) (39) N 12-1

Another method for determining a transfer function which is closely related to the first method described earlier can be utilized in that from (30) it follows that

Na Q {n) - Σ dH_{i> k} άC_k(n) (40)

Now assume that actuator changes dC^n) are unσorrelated for different values of i. Then

Na E[Q_t(12) dC*_m(n) ] - Σ ff_{j t}EidC^n) dc (n) ]

Je-l - E[ |²] dH_iιm (41)

where E[ ] denotes expectation. This average results in a quantity proportional to the required change in the transfer function element. This observation suggests the following formula for updating the transfer function elements

H_Jtil(n+l) - H,.(n) + a Q,(n) dc'.fn) (42)

As an example, "a" can be chosen to be

a = 0.5/ (1 + |dC(n)|²) (43)

Notice that in the solution given by (32), the product on the right hand side of (42) corresponds to the matrix B⁸Q_{. The matrix [B^aB]^' forms a special set of update scale factors.

The transfer function identification methods described in the second method which uses differences require that the actuators be excited with periodic signals that contain spectral components at all the significant harmonics present in the noise signal. The harmonics can be excited individually. However, since the sinusoids at the different harmonics are orthogonal, all the harmonics can be present simultaneously. The composite observed signals can then be,processed at each harmonic. Care must be taken in forming the probe signals since sums of sinusoids can have large peak values for some choices of relative phase. These peaks could cause nonlinear effects such as actuator saturation. Good periodic signals are described in the following two articles:

D.C. Chu, "Polyphase Codes with Good Periodic Correlation Properties," IEEE Transactions on Information Theory, July 1972, pp. 531-532.

A. Milewski, "Periodic Sequences with Optimal Properties for Channel Estimation and Fast Start-up Equalization," IBM Journal of Research and Development, Vol. 27, No. 5, September 1983, pp. 426-431.

These sequences have constant amplitude and varying phase. The autocorrelation functions are zero except for shifts that are multiples of the sequence period. They are called CAZAC (constant amplitude, zero autocorrelation) sequences. This special autocorrelation property causes the signals to have the same power at each of the harmonics. Using a probe signal with a flat spectrum is a quite reasonable approach. *

The CAZAC signals are complex. To use them in a real application, they should be sampled at a rate that is at least twice the highest frequency component and then the real part is applied to the DAC.

A fourth method of determining transfer functions H„ is by utilizing pseudo-Noise sequences. Pseudo-Noise actuator signals can be used to identify the actuator to sensor impulse responses. Then the transfer functions can be computed from the impulse responses. Let h_ifj(n) be the impulse response from actuator j to sensor i. Then Ns x Na impulse responses must be measured. The corresponding frequency responses can be computed as Nh H_± Λw) - Σ h An) exp (-jwnT) (44)

^J 12-0

where Nh is the number of non-zero impulse response samples and T is the sampling period. The sampling rate must be chosen to be at least twice the highest frequency of interest.

Suppose that only actuator m is excited and let the pseudo-noise driving signal be d(n) . Then the signal observed at sensor i is

Nh

^(1 ) - Σ h_itM(k) d(n-k) * v_± (n) (45) Jc-0

where v^n) is the external noise signal observed at sensor i. Let the present estimate of the impulse response be h*_{i m}(n) . Then the estimated sensor signal without noise is

r^fi(i2) - Σ h*_ita(k) d(n-k) (46)

Jr-0

The instantaneous squared error is

e²(n) = [_rι(n) - r'^n)]² (47) and its derivative with respect to the estimated impulse response sample at time q is

de²(n)/dh*_ifm(q) = -2 e(n) d(n-q) (48) This suggests the LMS update algorithm

^h#i,o(⁽3?ⁿ⁺¹) " ^h#i,m(<ϊ;ⁿ) + ^{a e}(ⁿ) *(n-q) (49)

For this algorithm to work, the pseudo-noise signal d(n) must be uncorrelated with the external noise v^n). This can be easily achieved by generating d(n) with a sufficiently long feedback shift register.

The problem becomes more complicated if all the actuators are simultaneously excited by different noise sequences. Then, these different sequences must be uncorrelated. Sets of sequences called "Gold codes" with good cross-correlation properties are known. However, exciting all the actuators simultaneously will increase the background noise and require a smaller update scale factor "all to achieve accurate estimates. This will slow down the convergence of the estimates.

A two actuator and three sensor noise canceler arrangement was simulated by computer to verify the cancellation algorithm (21). The simulation program ADAPT.FOR, following below, was used and was compiled using MICROSOFT FORTRAN, ver. 4.01.

PROGRAM ADAPT.FOR

PROGRAM FOR TESTING THE ADAPTIVE CANCELLER METHOD USING ALGORITHM EQUATION (21)

THE MODEL FOR THIS PROGRAM USES TWO ACTUATORS AND THREE SENSORS. THE TRANSFER FUNCTIONS FROM ACTUATOR K TO SENSOR P, H(P,K), ARE REALIZED BY 4 TAP FIR FILTERS, G(P,K,N) , TO CHECK THE DYNAMIC BEHAVIOR OF THE ADAPTIVE SCHEME. ALL INPUT SIGNALS ARE ASSUMED TO HAVE THE SAME FREQUENCY, THAT IS, ONLY ONE HARMONIC IS CONSIDERED. THE NORMALIZED FREQUENCIES FN - F/FS ARE USED, WHERE FS IS THE SAMPLING FREQUENCY IN HZ.

G(P,K,N) IS THE IMPULSE RESPONSE SAMPLE AT TIME N FROM ACTUATOR K TO SENSOR P. REAL G(3,2,0:3)

GDATA(K,N) IS THE DELAY LINE FOR THE FILTER BETWEEN ACTUATOR K AND SENSOR P. NOTICE THAT ALL THE FILTERS FROM SENSOR K HAVE THE SAME INPUTS SO ONLY 2 DELAY LINES ARE NEEDED, ONE FOR ACTUATOR 1 AND ONE FOR ACTUATOR 2.

REAL GDATA(2,0:3) H(P,K) IS THE TRANSFER FUNCTION FROM ACTUATOR K TO SENSOR P AT THE FREQUENCY OF THE HARMONIC BEING CANCELLED. COMPLEX H(3, 2), Z,ZZ

THE ACTUATOR TAP VALUES ARE DESIGNATED BY C(K) = X(K) + j Y(K) FOR K - 1,2

REAL X(2),Y(2)

S(l) AND S(2) ARE THE ACTUATOR INPUT SIGNALS REAL S(2)

SG(P,K) ARE THE OUTPUTS OF THE FILTERS FROM ACTUATOR K TO SENSOR P

REAL SG(3,2)

R(P) ARE THE OUTPUTS OF SENSOR 1, 2, AND 3 REAL R(3)

V(P) ARE THE EXTERNAL NOISE INPUTS AT EACH SENSOR

REAL V(3)

INTEGER P

AV(P) ARE THE EXTERNAL NOISE AMPLITUDES

REAL AV(3)

PHV(P) ARE THE EXTERNAL NOISE PHASES IN DEGREES

REAL PHV(3)

WRITE(*, • (A\) •) ' ENTER NOISE AMPLITUDES AV(1) , AV(2) , AV(3):

READ(*,*) AV(1), AV(2), AV(3)

WRITE(*, ' (A\) •) • ENTER NOISE PHASES PHV(l) , PHV(2) ,

PHV(3) IN D 1EGREES: ' READ(*,*) PHV(1),PHV(2),PHV(3)

ALPHA = TAP UPDATE SCALE FACTOR

WRITE(*, • (A\) ') ENTER UPDATE SCALE FACTOR ALPHA: READ(*,*) ALPHA

PI - 3.141592653589 PI2 = 2*PI

INITIALIZE THE IMPULSE RESPONSES TO (AN ARBITARY CHOICE)

N ■ 0 1 2 3

WRITE(*, • (A\) ') • ENTER THE NORMALIZED SIGNAL FREQUENCY FS

READ(*,*) FN

WRITE(* , * ' (A\) • ) • ENTER NUMBER OF ITERATIONS:

READ (* , *) NTIMES

OPEN(1,FILE=•JUNKl.DAT' ,STATUS=«UNKNOWN•) OPEN(2,FILE='JUNK2.DAT',STATUS=, 'UNKNOWN') OPEN(3,FILE='JUNK3.DAT' ,STATUS=^»UNKNOWN') OPEN(4,FILE=•JUNK4.DAT' ,STATUS='UNKNOWN')

COMPUTE THE TRANSFER FUNCTIONS H(P,K)

Z = CEXP(CMPLX(0.,-PI2*FN)) DO 2 K = 1,2 DO 2 P = 1,3 H(P,K) = (0.,0.) DO 3 N = 0,3 3 H(P,K) * H(P,K) + G(P,K,N) *Z**N

2 CONTINUE

************* ********************************* ****

NOW START PROCESSING SIGNAL SAMPLES

DO 1000 NNN = 0,NTIMES

FORM THE INPUT SAMPLES FOR ACTUATORS 1 AND 2 S(K,N) - RE[ C(K)*EXP(jPI2*N*FN) ]

= X(K)*COS(PI2*N*FN) - Y(K)*SIN(PI2*N*FN)

DO 4 K=l,2 4 S(K) - X(K)*COS(PI2*NNN*FN) - Y(K)*SIN(PI2*NNN*FN)

SHIFT THE INPUT SAMPLES INTO THE FIR FILTERS

DO 5 K = 1,2 DO 6 N=3,l,-1 6 GDATA(K,N) = GDATA(K,N-1) 5 GDATA(K,0) = S(K)

COMPUTE THE OUTPUTS OF THE FIR FILTERS

DO 7 P = 1,3 DO 7 K = 1,2 SG(P,K) = 0

D08 N = 0,3 8 SG(P,K) = SG(P,K) + GDATA(K,N)G(P,K,N)

7 CONTINUE

FORM THE SENSOR OUTPUTS R(P) DO 9 P = 1, 3

V(P) - AV(P) *COS(PI2*FN*NNN - PHV(P) *PI/180. ) R(P) - 0 DO 10 K = 1, 2 10 R(P) = SG(P,K) + R(P) 9 R(P) « R(P) + V(P)

THE ACTUATOR TAPS C(l) AND C(2) WILL NOW BE UPDATED USING EQUATION (21) . THIS EQUATION FOR THE COMPLEX TAPS HAS BEEN SEPARATED INTO TWO EQUATIONS HERE, ONE FOR THE REAL PART-AND ONE FOR THE IMAGINARY PART.

DO 11 K = 1,2 SUMR = 0 SUMI - 0 DO 12 P * 1,3

ZZ - CEXP(CMPLX(0.,P12*FN*NNN) SUMR = SUMR + REAL(H(P,K)ZZ)*R(P) 12 SUMI = SUMI + AIMAG(H(P,K)*ZZ)*R(P)

X(K) - X(K) - ALPHA*SUMR 11 Y(K) = Y(K) + ALPHA*SUMI

C COMPUTE SUM SQUARED RESIDUAL

RESID = R(l)**2 + R(2)**2 + R(3)**2 WRITE(5,*)NNN,RESID

WRITE(*,*) NNN,R(1),R(2),R(3) WRITE(1,*) NNN,X(1) WRITE(2,*) NNN,Y(1) WRITE(3,*) NNN,X(2) WRITE(4,*) NNN,Y(2) 1000 CONTINUE END

Sinusoidal signals with known frequencies and the outputs of the filters from the actuators to the sensors were computed using sinusoidal steady-state analysis. If the actuator taps are updated at the sampling rate, this steady-state assumption is not exactly correct. However, it was assumed to be accurate when the tap update scale factor is small so that the taps are changing slowly. To test this assumption, six filters were simulated by 4-tap FIR filters with impulse responses G(P,K,N) where P is the sensor index, K is the actuator index, and N is the sample time. The exact values used are listed in the program. The required transfer functions are computed as

3 H(P, K - ∑ G(P, K, exp (-j*2 *pi*N*f/fs) (50)

where f is the frequency of the signals and fs is the sampling rate. The normalized frequency FN = f/fs is used in the program.

Let the complex actuator tap values at time N be

C(K,N) - X(K,N) + j Y(K,N) (51)

Then, according to Equation (21) the updating algorithm is 3 C(K,N*1) - C(K,N) -a Σ H^t(P,K)exp(-j*2*pi*N*f/fs)R(P,N)

P-l

where R(P,N) is the residual measured at sensor P at time N.

The following two real equations are used for computing (21) in the program

3 X(K.N+1) - X(K,N) -a Σ Re[H{P,I xp(.-j*2*pi*N*f/fs)R(P,

P-l

Y{K,N+1) - Y(K,N) +a Σ Im[H(.P,lQeyqρ(-j*2*pi*N*f/fs)R(P,

P-l

The external noise signals impinging on the sensors are modeled as

V(P,N) » AV(P) cos(2*pi*N*f/fs - pi*PHV(P)/180) (55)

in the program where PHV(P) is the degrees.

Typical results are shown in Figures 2, 3, and 4. Fig. 2 shows the convergence of the sum squared residual for AV(1) = AV(2) = AV(3) - 1 and PHV(L) = PHV(2) = PHV(3) = 0. Fig. 4 shows the convergence of the real and imaginary parts of the actuator 1 tap. Fig. 3 shows the convergence of the sum squared residual for AV(1) = AV(2) = AV(3) = 1 and PHV(L) = 0, PHV(2) = 40, and PHV(3) = 95 degrees. The algorithm converges as expected. The final value for the sum squared residual depends on the transfer functions from the actuators to the sensors as well as the external noise arriving at the sensors. Each combination results in a different residual.

Although the invention has been described and illustrated in detail, it is to be clearly understood that the same is by way of illustration and example, and is not to be taken by way of limitation. The spirit and scope of the present invention are to be limited only by the terms of the appended claims.

Claims

Clai a

1. Repetitive phenomena cancelling controller arrangement for cancelling unwanted repetitive phenomena comprising known fundamental frequencies, including:

5 known frequency determining means for generating an electrical known frequency signal corresponding to known fundamental frequencies of the unwanted repetition phenomena,

a plurality of sensors, each sensor including means for ϊ -sensing residual phenomena and for generating an electrical residual phenomena signal representative of the residual phenomena,

a plurality of actuators for providing cancelling phenomena signals at a plurality of locations, and

15 controller means for automatically controlling each of the actuators as a predetermined function of the known fundamental frequencies of the unwanted repetitive phenomena and of the residual phenomena signals from the plurality of said sensors, whereby said plurality of

20 actuators operate to selectively cancel discrete harmonics of said known fundamental frequencies while accommodating interactions between the various sensors and actuators.

2. Repetitive phenomena cancelling controller arrangement as claimed in Claim 1, wherein said unwanted repetitive

25 phenomena is audible noise, wherein said sensors are microphones, and wherein said actuators are speakers.

3. Repetitive phenomena cancelling controller arrangement as claimed in Claim 1, comprising transfer function determining means for determining the transfer function between each respective pair of actuators and sensors, and wherein said controller means includes means for controlling the actuators as a function of the respective transfer function between each pair of actuators and sensors.

4. Repetitive phenomena cancelling controller arrangement as claimed in Claim 3, wherein said transfer function determining means includes adaptive filter means and pseudo random noise generating means.

5. Repetitive phenomena cancelling controller arrangement as claimed in Claim 1, wherein said controller means includes means for sampling Said residual phenomena signals synchronously with the preselected known fundamental frequencies.

6. Repetitive phenomena cancelling controller arrangement as claimed in Claim 1, wherein said known frequency determining means samples the unwanted repetitive phenomena synchronously and the cancelling phenomena signals are generated in accordance with the iterative algorithm,

Ns

C -*_t.« i_*l) - C ^•J.c.jri) - a Σ ff*_Bi(m) R ^• .^β

P-l

and

C_k(t;m) = x_k#m( i) cosmw₀t - y_kfin(i) sinmw₀t

for k = 1, . . . . , Na, Na = number of actuators m = 1, .... Nh, Nh - number of significant harmonics

a = small positive constant

Ns = number of sensors

H*_pk(m) = the complex conjugate of a transfer function from an actuator k to a sensor p at frequency mw₀, where w₀ is a fundamental frequency

C_kfffl(i) = x_k,_m(i) + j y_k,m(i) a coefficient at iteration i;

R_p,_m = the DFT of r (nT) at harmonic m where r_p(nT) =* the total signal observed at sensor p

7. Repetitive phenomena cancelling controller arrangement as claimed in Claim 1, wherein said known frequency determining means samples the unwanted repetitive phenomena synchronously or asynchronously and the cancelling phenomena signals are generated in accordance with the algorithm

Ns C_{k Λ}(n+l) - C_{k m}(n) - a Σ H'^im) exp (-jmwonT) r (nr)

P-l

and

C_k(t;m) = x_kfin(i) cosmw₀t - y_k/m(i) sinmw₀t

or k = 1 Na, Na = number of actuators

= 1 Nh, Nh = number of significant harmonics a - small positive constant

Ns = number of sensors

H^* _pX(m) * the complex conjugate of a transfer function from an actuator K to a sensor p at frequency mw_ol where wo is a fundamental frequency

r_(nT) = total signal observed at sensor p

CJ_CΠ ¹) " Xjcmf¹) + 3 Y_k,**¹) ^a coefficient at iteration